IEEE/RSJ International Conference on
Intelligent Robots and Systems
Chicago, Illinois
Sept. 14–18, 2014

The role of human sensorimotor control in surgical robotics

Thursday, September 18, 2014, 08:30am-06:00pm

Salon 5

Surgery is a highly complex sensorimotor task requiring surgeons to precisely control surgical instruments to operate on patients. In tele-operated robot-assisted minimally invasive surgery (RAMIS), the surgeon manipulates a pair of master manipulators that control the movement of patient-side instruments that are inserted into the patient via small incisions. The design and control of RAMIS platforms may enhance the ability of the surgeon to perform a safe and effective surgery. A comprehensive understanding of surgeon sensorimotor behavior is fundamental to continuing innovations and improvements of surgical robots. Recently, researchers have begun to apply basic ideas from human sensorimotor control to better understand surgeon performance. The tele-operative nature of RAMIS allows measurement of underlying surgeon behavior, and this research is resulting in new and exciting findings that not only improve surgical robotics but also suggest a novel, applied, and real-life environment to study basic human sensorimotor control. In this workshop, we seek to foster a dialogue between researchers in the fields of: (1) computational modeling of neural control of movement, sensorimotor behavior, and human motor learning; (2) human-robot interaction, tele-operation, and surgical robotics; and (3) surgical training and skill assessment, by discussing latest advancements in each field and novel collaborations avenues.

Organizers:

Dr. Ilana Nisky, Biomedical Engineering, Ben Gurion University, nisky (at) bgu.ac.il

Dr. Anthony Jarc, Medical Research, Intuitive Surgical, Inc., anthony.jarc (at) intusurg.org

Objectives:

The aim of this workshop is to bring together researchers from human sensorimotor control and surgical robotics to discuss current research and future directions to improve surgical robotics as well as to advance our understanding of basic human behavior. Robot-assisted minimally invasive surgery (RAMIS) offers an appealing platform that can foster collaboration between these two fields. For example, computational methods that are used in basic human motor learning experiments could be used to quantify surgeon performance as they progress along their learning curves using a surgical robot. Speakers working on the neural control of movement, computational modeling of sensorimotor behavior, human motor learning, human-robot interaction, teleoperation, and surgical robotics will be invited to present at the workshop while additional poster presentations will be gathered through a call for abstracts.

BOOK of abstracts:

Abstracts

workshop schedule:

8:45-9:00	Anthony Jarc and Ilana Nisky	Welcome and Introduction
RAMIS teleoperation and human motor control
Session 1	Chair: Ilana Nisky
9:00-9:30	Allison Okamura	The effect of robotic manipulators on surgeon movement
9:30-10:00	Cenk Cavusoglu	Human sensory-motor models for design of robotic surgery systems
10:00-10:40	Coffee break and poster viewing
Session 2	Chair: Anthony Jarc
10:40-11:10	Konrad Kording	Bayesian modeling of human motor control
11:10-11:40	Guang-Zhong Yang	Perceptual docking for cooperative robotic control
11:40-12:05	Ilana Nisky and Anthony Jarc	Panel Discussion: Yang, Kording, Okamura, and Cavusoglu
12:05-12:30	Ilana Nisky	Poster teasers
12:30-2:00	Lunch and poster viewing
Surgical training, skill assessment, and motor learning
Session 3	Chair: Ilana Nisky
2:00-2:30	Greg Hager	Computational modeling and enhancement of human skill
2:30-3:00	Sandro Mussa-Ivaldi	Adaptive human force and motion control
3:00-3:40	Coffee break and poster viewing
Session 4	Chair: Anthony Jarc
3:40-4:10	Katherine Kuchenbecker	Haptic feedback and analysis of tool vibrations in robotic surgery
4:10-4:40	Antonio Gangemi	On the preliminary implementation of a standardized, proficiency-based, multi-level curriculum for the robotic training of general surgery residents.
4:40-5:05	Anthony Jarc and Ilana Nisky	Panel Discussion: Gangemi, Mussa-Ivaldi, Hager, and Kuchenbecker
5:05-5:20	Anthony Jarc	Surgical robotics research opportunities
5:20-5:30	Anthony Jarc	Best Poster Competition Winner
5:30-5:50	Ilana Nisky	General discussion and closing remarks

Important dates:

May 1, 2014	Call for abstract / short papers
July 1 August 10, 2014	Submission deadline
July 10 August 25, 2014 Sept 18, 2014	Notification of acceptance IROS Workshop in Chicago, Illinois, USA

Acceped Posters:

Posters will be presented in the workshop room. Each poster presented will present a 2 minutes poster teaser at the end of the morning session.

1. Teleoperation-based Modeling of Sensorimotor Integration: Application to Writer’s Cramp
S. Farokh Atashzar, Mahya Shahbazi, Fariborz Rahimi, Mehdi Delrobaei, Jack Lee, Mallory Jackman, Rajni V. Patel, and Mandar Jog

2. Live tissue surgeon training evaluation using a hybrid model
Yang Bai, Sayyed Khandani, and Anthony Jarc

3. Teleoperation of Parallel Continuum Manipulators using Approximate Kinematic Models
Scotty Chung, Caroline E. Bryson, John Till, Jonathan Carlton, and D. Caleb Rucker

4. Pointcloud-based Analysis of the Surgeon’s Hand for Natural Control of Robotic Surgical Graspers
Seung-Chan Kim, Hyun-Young Lee, Jung-Wook Suh, Won-ho Shin, and Dong-Soo Kwon

5. Motor control adaptation in a simulated tissue puncture task
Felix C. Huang

6. Using Vision to Improve Activity Recognition in Surgical Training Tasks
Colin Lea, Gregory D. Hager, and Rene Vidal

7. Roughness Enhanced Haptic Rendering with In Vivo Stereo Skin Images
Kyungchai Lee, Kwangtaek Kim, Onseok Lee, and Mingi Kim

8. Automatic Skill Evaluation for a Needle Passing Task in Robotic Surgery
Sarah Leung, and Katherine J. Kuchenbecker

9. Evaluating Surgical Training Task Segments: using the Crowd and the Machine
Anand Malpani and Gregory D. Hager

10. Cutaneous Feedback of Planar Fingertip Deformation and Vibration on a da Vinci Surgical Robot
Claudio Pacchierotti, Priyanka Shirsat, Jacqueline K. Koehn, Domenico Prattichizzo, and Katherine J. Kuchenbecker

11. Applying virtual fixtures to the distal end of a minimally invasive surgery instrument
Cecile Poquet, Marie-Aude Vitrani, and Guillaume Morel

12. Sensorimotor Integration and Skills Development in Robotics-Assisted Surgery
Mahya Shahbazi, S. Farokh Atashzar, and Rajni V. Patel

Best Poster Competition:

The award committee and workshop participants chose the best poster (sponsored by Intuitive Surgical Inc.), which was announced at the end of the day. The Best Poster Award Committee was chaired by Dr. Anthony Jarc.

Congratulations to the Best Poster Award Finalists:

· Motor control adaptation in a simulated tissue puncture task
Felix C. Huang

· Cutaneous Feedback of Planar Fingertip Deformation and Vibration on a da Vinci Surgical Robot
Claudio Pacchierotti, Priyanka Shirsat, Jacqueline K. Koehn, Domenico Prattichizzo, and Katherine J. Kuchenbecker

Congratulations to the Best Poster Award Winner:

· Automatic Skill Evaluation for a Needle Passing Task in Robotic Surgery
Sarah Leung, and Katherine J. Kuchenbecker

Supported by:

IEEE RAS Technical Committee on Performance Evaluation and Benchmarking of Robotic and Autonomous Systems